DEVICE CANOPEN

0.1 Introduction

The CANOPEN device is an object that can be used for configuring, monitoring and managing a CANOpen network. CANopen is a communication protocol based on CAN bus. For every reference to CiA documents please refer to Protocol: the international organization that develops and promotes the protocols based on CAN bus (http://www.can-cia.org/cia).

0.2 Device declaration

In the configuration section INTDEVICE unit must be declared so that you have the hardware necessary to use the CANOPEN device. In the INTDEVICE section of the unit of configuration must be added the following definition:

;--------------------------------- 
; Device declaration
;--------------------------------- 
INTDEVICE 
...
<device_name>  CANOPEN TCamp  Speed Port

Where:

<device_name>	the name given to the device
CANOPEN	keyword that identifies the device analog positioner
TCamp	sample time device (1÷255 ms)
Speed	indicates the value in Kbps of speed. Accepted values are 1000, 500, 250 and 125. On some hardware, you can also set the value 0. In this case the CANbus speed is set with the dip-switches. The value of the selected speed will be visible in the parameter speed
Port	indicates the CAN unit to which the device is to be referred. If your hardware is slated to only one port CAN use the value 0

	Attention: It is necessary that each definition are present on the same line.

0.3 Operation

The main features of the CANOPEN device are:

CANbus network monitoring: some switches allow you to control the errors of the CAN network, to estimate traffic bus, check some typical CANbus device States
receiving and decoding of emergency messages typical of the CANOpen protocol
managing QDO (Qem Data Object) they are objects that do not have a direct relationship with the Protocol, but enhance ensure the possibility of CANOpen communication library configuration. For example the QDO are used to define the refresh rate of the analog inputs, to define the Division factor of position read from a drive, etc.

Here is a list of currently available QDO:

index	Name	Default value	Access	Range of values	Short description
1	aiperiod	100	RW	0÷32767	Update time analog and count inputs expressed in ms
2	setdrivemode	-	RW	0÷255	Sets the drive to work with indicated mode and DS402 specification
3	targetpos	-	W	-	Sets the source location for the drive. Your writing should be done with the drive not operational. This parameter is automatically set with the QDO setdrivemode.
4	divfactor	2	RW	0÷4	Sets the divider for positions. The value is the divisor expressed as an exponent of 2. (example: 2 means 2² = 4)
5	Slave Link Status	-	R		Indicates the linkup of the slaves. The State of bit 0 corresponds to the status of links of the slave with address 1
6	Slave Link Up	-	W		Adds to the CANOpen network one slave in link down. Bit 0 corresponds to the slave with address 1
7	Sync Mode		RW	0÷1	Sets the message SYNC mode (0 for DS401, 1 for DS402 in interpolation mode)
8	Guard Time		RW	-	Sets the Guard Time of the NodeGuarding protocol
9	SDO timeout		RW	-	Sets the timeout value of the SDO messages

0.3.1 "Slave Link Status" use example

Example of a unit created for Qview 6 with local declaration and CANOPEN device declared as REFERENCE.

CONST
 
	READ_LINK_STATUS__TIME	1000
 
GLOBAL
	ErrorCode		B OUT			
	SlavesLinkDown		L OUT	; link down state (bit0=slaveID1, bit1=slaveID2, ecc)
 
TIMER
	tmLinkStatus
 
INTDEVICE
	CanOpen			CANOPEN		REFERENCE						
 
BEGIN
 
MAIN:
 
 
	IF tmLinkStatus
		tmLinkStatus = READ_LINK_STATUS__TIME
 
    	        CanOpen.index = 5
		CanOpen.READQDO 
		WAIT CanOpen.st_send
		IF NOT CanOpen.qdoerr
			SlavesLinkDown = CanOpen.data
                        ErrorCode = 0
		ELSE
			ErrorCode = 1
		ENDIF				
	ENDIF
 
    WAIT 1
    JUMP MAIN
 
END

0.4 Parameters table

Name	Dimension	Default value	Access type	Unit of measure	Valid range	Write conditions	Description
speed	Word	-	R	Kbps	1000, 500, 250, 125 o 0	-	Transmission speed Shows the relevant setting on the device for the transmission speed.
maxrxerr	Word	0	RW	-	-	-	Maximum number of receive errors Shows the maximum number of receive errors.
maxtxerr	Word	0	RW	-	-	-	Maximum number of errors in transmission Shows the maximum number of errors in transmission.
busload	Word	0	R	Percentage	0÷100	-	Bus load Indicates the network traffic load as a percentage, the value is updated every 500 ms.
maxtraffic	Word	0	RW	Percentage	0÷100	-	Maximum load detected in bus Shows the maximum percentage of traffic detected on the bus from the last reset of this parameter.
errflags	Word	0	RW	-	0÷32768	-	Error flag indicator The value is the result of the conversion to decimal values of some bit flags, at every mistake every flag is placed at 1, to clear them you can set the parameter to 0. All of these error messages are sent from the chip that manages communication CAN. bit0 overrun error bit1 rx buffer full error bit2 idle character detect bit3 bus-off state bit4 transmitter error passive bit5 receiver error passive bit6 transmitter warning bit7 receiver warning bit8 acknowledge error bit9 CRC error bit10 form error bit11 stuff bit error bit12 bit 0 error bit13 bit 1 error bit14 received message queue full bit15 transmit message queue full bit16 receiver busy
unit	Byte	0	RW	-	-	-	CANOpen unit's identification number Identifies the number of CANOpen drive that will use the READSDO and WRITESDO commands.
index	Long	0	RW	-	0÷65535	-	Index of Dictionary objects Identifies the index of the Dictionary objects.
subindex	Word	0	RW	-	0÷255	-	Sub-Index of Dictionary objects Identifies the sub-index of the Dictionary objects in the case that the object is of complex type.
length	Word	0	RW	bytes	-	-	Dimension SDO Indicates the size in bytes of the SDO read or written.
data	Long	0	RW	-	-	-	SDO or QDO value Indicates the QDO or SDO value to be read or written.
string1÷16	Byte	0	RW	-	-	-	SDO value Indicates the SDO value read or written in the case that the data is of type VISIBLE_STRING or OCTET_STRING.
sdoerr	Byte	0	R	-	-	-	Error while the SDO processing Indicates an error made while of the SDO reading or writing. The value must be read after st_send is placed to 1. The error codes are: 6 Invalid unit 10 invalid group number 11 invalid SDO 12 communication error 13 length invalid SDO 17 wrong unit 28 invalid message length 29 transmission error 34 not valid object length
qdoerr	Byte	0	R	-	-	-	Error while QDO processing Indicates an error made while of the QDO reading or writing. The value must be read after st_send is placed to 1. The error codes are: 1 object not available 2 error in the QDO running 3 value of the QDO used beyond the limits
sdoabort	Word	0	R	-	-	-	SDO abort code CAN protocol error messages. (Not yet implemented)
emcyunit	Byte	0	R	-	-	-	Emergency unit Indicates the number of units located in emergency.
emcycode	Word	0	R	-	-	-	Emergency message code Indicates the emergency message code.
emcyreg	Byte	0	R	-	-	-	Error log emergencies Emergency message error log.
emcyman1÷5	Byte	0	R	-	-	-	Error constructor These parameters allow you to read the value of the “manufacturer specific error register” field of the emergency message.
errcode	Byte	0	R	-	0÷100	st_error=1	Error identification code Indicates the type of failure intervened in the system. When st_error = 1 is present on the errcode variable the type of failure intervened and in the errvalu variable and e an indication on the cause of the error.
errvalue	Byte	0	R	-	0÷100	-	Identifying code of the cause of the error Indicates the cause of the error in the system. The code is valid only if st_error = 1.
wrncode	Byte	0	R	-	0÷100	-	Identification code warning Indicates the type of warning in the system. The st_warning state indicates a minor event that guarantees the operation of the device. When st_warning is equal to 1, are present on the wrncode variable the type of warning intervened (see the table) and in the wrnvalue variable an indication as to the cause of the warning.
wrnvalue	Byte	0	R	-	0÷100	-	Identification code of the cause of the warning Indicates the cause of the warning in the system. 1: attempt to write access on a parameter where the conditions for writing were not met, 2: attempt to execute a command when the conditions weren't met.

0.5 Tabella stati

Nome	Breve descrizione	Descrizione
st_send	1	Comando SDO o QDO eseguito Quando lo stato assume valore 1 indica che il comando SDO (READSDO o WRITESDO) o QDO (READQDO o WRITEQDO) è stato eseguito.
st_emcy	0	Stato di emergenza Il device ha ricevuto un messaggio di emergenza quando lo stato vale 1.
st_error	0	Presenza di un errore Indica lo stato di errore del device, per riconoscere il tipo di errore si deve far riferimento alle variabili errcode ed errvalue: 0: errore non presente, 1: errore presente
st_warning	0	Presenza di un warning Indica lo stato di warning del device, per riconoscere il tipo di warning si deve far riferimento alle variabili wrncode e wrnalue: 0: warning non presente, 1: warning presente

0.6 Tabella comandi

Nome	Condizione	Descrizione
READSDO	st_send=1	Lettura di un SDO Comando di lettura di un SDO. È necessario che siano impostati i seguenti parametri: unit, index, subindex. All'attivazione dello stato st_send è possibile verificare i parametri relativi per verificare la presenza di un errore. Se l'operazione è andata a buon fine allora nei parametri data o string1÷16 si trovano il valore dell'oggetto e nel parametro length si trova la dimensione del dato.
WRITESDO	st_send=1	Scrittura di un SDO Comando di scrittura di un SDO. È necessario che siano impostati i seguenti parametri: unit, index, subindex, length e data. All'attivazione dello stato st_send è possibile verificare i parametri relativi per verificare la presenza di un errore.
READQDO	st_send=1	Lettura di un SDO Comando di lettura di un QDO. È necessario che siano impostati i seguenti parametri: unit, index, subindex. All'attivazione dello stato st_send è possibile verificare il parametro qdoerr per verificare la presenza di un errore.
WRITEQDO	st_send=1	Scrittura di un SDO Comando di scrittura di un QDO. È necessario che siano impostati i seguenti parametri: unit, index, subindex, length e data. All'attivazione dello stato st_send è possibile verificare il parametro qdoerr per verificare la presenza di un errore.
READEMCY	st_emcy=1	Lettura di un messaggio di emergenza Comanda la lettura di un messaggio di emergenza. Quando lo stato st_emcy diventa attivo significa che il device ha ricevuto un messaggio di errore e sarà possibile leggerlo con questo comando. I parametri emcyunit, emcycode, emcyreg ed emcyman1÷5 rappresentano i dati del messaggio.
RSERR	st_error=1	Reset dello stato di errore Azzera lo stato st_error.
RSWRN	st_warning=1	Reset dello stato di warning Azzera lo stato st_warning.